Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures
	Wu JF(武加锋); Zhang, Rui; Yang GX(杨广新)
刊名	Industrial Robot
	2015
卷号	42 期号:4 页码:332-338
关键词	Friction stir welding Heavy robot design Large-scale complex structures
ISSN号	0143-991X
通讯作者	武加锋
产权排序	2
中文摘要	Purpose: This paper aims to present a new friction-stir-weld robot for large-scale complex surface structures, which has high stiffness and good flexibility. Design/methodology/approach: The robot system is designed according to manufacturability of large aluminum products in aeronautic and astronautic area. The kinematic model of the robot is established, and a welding trajectory planning method is also developed and verified by experiments. Findings: Experimental results show that the robot system can meet the requirements of friction stir welding (FSW) for large-scale complex surface structures. Practical implications: Compared with other heavy robotic arm and machine tool welding devices, this robot has better working quality and capability, which can greatly improve the manufacturability for large-scale complex surface structures. Originality/value: The friction-stir-weld robot system is a novel solution for welding large-scale complex surface structures. Its major advantages are the high stiffness, good flexibility and high precision of the robot body, which can meet the requirements of FSW. Besides, a welding trajectory planning method based on iterative closest point (ICP) algorithm is used for welding trajectory.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Industrial ; Robotics
研究领域[WOS]	Engineering ; Robotics
关键词[WOS]	LOCALIZATION ; ALGORITHMS
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000357392900007
内容类型	期刊论文
源URL	[http://ir.sia.ac.cn/handle/173321/16185]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Wu JF,Zhang, Rui,Yang GX. Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures[J]. Industrial Robot,2015,42(4):332-338.
APA	Wu JF,Zhang, Rui,&Yang GX.(2015).Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures.Industrial Robot,42(4),332-338.
MLA	Wu JF,et al."Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures".Industrial Robot 42.4(2015):332-338.